Affiliation:
1. Sandia National Laboratories, Albuquerque, New Mexico
2. Beckman Institute and Coordinated Science Laboratory, University of Illinois, Urbana, Illinois
Abstract
Motion planning is one of the most important areas of robotics research. The complexity of the motion-planning problem has hindered the development of practical algorithms. This paper surveys the work on gross-motion planning, including motion planners for point robots, rigid robots, and manipulators in stationary, time-varying, constrained, and movable-object environments. The general issues in motion planning are explained. Recent approaches and their performances are briefly described, and possible future research directions are discussed.
Publisher
Association for Computing Machinery (ACM)
Subject
General Computer Science,Theoretical Computer Science
Reference176 articles.
1. AHUJA N. AND SCHACHTER B. 1983. Pattern Models. Wiley New York. AHUJA N. AND SCHACHTER B. 1983. Pattern Models. Wiley New York.
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